#include "../include/gui/ui_data.h"

/*============
*type:USB_CHECK_COMMUNICATION, usb通讯检测，变量累加
============*/
int from_pc_check_communication;

/*============
*type:USB_CHECK_NET_CONNECTION, 网络连接正常信号，data： 1=表示连接正常，0=未连接
============*/

int from_pc_check_net_connection;
int from_arm_check_connection;
int from_arm_check_connection_error;
int from_arm_check_connection_first;
int from_arm_check_connection_last;
int from_pc_log_info_status;
int SafeRadarStatus_L;
int SafeRadarStatus_R;
int alarm_show_status[5];
int selftask_show_status;
int Arm_Open_status;
int Arm_Close_status;
int Remote_Control_status;
int SureCancelStatus;
int SafeRadarControl_L;
int SafeRadarControl_R;
double_t positon_point_coordinate[11][3];
uint8_t ControlStatus;
uint16_t AgvInit;
IO_MOTOR_t IO_motor_;

int agv_loc_status;
int motorNumMode = 0;
QString version_status;
std::string alarm_show_info_motro[5];

//接收信息
arm_run_info_t arm_run_info_;
mech_para_t mechanical_param_;
//    MechanicalParameters mechanical_param_;
arm_operation_info_t arm_operation_info_;
mission_info_t mission_info_;
device_status_t device_status_;
screen_param_t agv_rec_id_;
usb_robot_status_run_t usb_robot_status_run_;
PC_s pc_info_;

//控制信号
mech_para_t mech_param_;
sensor_cmd_t sensor_cmd_;
paw_control_t paw_control_;
err_destroy_t err_clear_;
radar_amend_t radar_amend_;
agv_id_t agv_id_;
agv_positioning_t agv_loc_cmd_;
BatteryLimmit_s battary_thold_;

AgvSW_ts control_send_re_;
log_info_t log_info_;
//
alarm_staus_t alarm_staus_;

//IO模块
IO_s IO_stauts;
Battery_s battery_status_;
RTU307G_1 rtu3071;
RTU307G_2 rtu3072;
RTU317F_s rtu317;
RTU317T rtu317_Cotton;
RTU317F_CX_s rtu317_CX;
RTU317F0_s rtu3170;       //半自动IO
RTU317F1_s rtu317e;
RTU317E rtu317_fork;
RTU308K rtu308k;
RTU_317E_s rtu_317e_s;
RTU_317F_s rtu_317f_s;
RTU317F_Clean rtu317f_clean;
//ErrMask_s errmask;
ErrMask_Cotton_s errmask_Cotton_;
Motor_s Motor_re_Run;
Motor_s Motor_re_Ode;
Motor_s Motor_re_Hy;
Motor_s Motor_re[MOTOR_NUM];
AgvSwState_s agv_sw_state_;
Gyro_s gyro_s_;
selftask_info_t selftask_info_;
SYS_CONFIG_s sys_config_send_;
SYS_CONFIG_s sys_config_receive_;
safety_radar_t safety_radar1;
safety_radar_t safety_radar2;
SafeRadar_s SafeRadar_L;
SafeRadar_s SafeRadar_R;
EcolineInfo_s ecolineInfo_[3];
usb_clean_data_mode_t usb_clean_data_mode_send_;
